Specifications

Communication protocols
PROGRAMMING MANUAL 204
Revision 5.0
'----------------------------------------
' Add TPDO / RPDO
'----------------------------------------
' Map TPDO 0 to VR(100)
result = CAN_CORT(0,8,0,1,100,$202,0,0,5)
tot_result = tot_result AND result
' Map RPDO 0 to VR(0)
result = CAN_CORT(0,7,0,1,0,$1e3,5)
tot_result = tot_result AND result
IF tot_result = FALSE THEN
PRINT "Add TPDO / RPDO Fail"
STOP
ENDIF
'----------------------------------------
' Slave Config Settings
'----------------------------------------
' Node 9 (TJ1-CORT)
' Set Heartbeat consumption
result = CAN_CORT(0,9,$9,$1016,1,0,$2,0,$D0)
tot_result = tot_result AND result
result = CAN_CORT(0,9,$9,$1016,1,0,$63,0,$D0)
tot_result = tot_result AND result
' Node 2
' Set Heartbeat production
result = CAN_CORT(0,9,$2,$1017,0,0,$C8)
tot_result = tot_result AND result
' Additional settings
result = CAN_CORT(0,9,$2,$2001,1,$f)
tot_result = tot_result AND result
' Node 63
' Set Heartbeat production
result = CAN_CORT(0,9,$63,$1017,0,0,$C8)
tot_result = tot_result AND result
IF tot_result = FALSE THEN
PRINT "Slave Config Settings Fail"
STOP
ENDIF
'----------------------------------------
' Start Network
'----------------------------------------
result = CAN_CORT(0,10)
tot_result = tot_result AND result
IF tot_result = FALSE THEN
PRINT "Start Network Fail"
STOP
ENDIF
NIO = 64
4.6.2 Communication status
The TJ1-CORT can give status information to the TJ1-MC__. To retrieve this
status information, use the BASIC command CAN_CORT(unit,4,0). The
result value of this command is given in the table below.
/i
Bit Value Description
0 0 Mandatory slave is in correct state
1 Mandatory slave is in unexpected state
1 0 Optional slave is in correct state
1 Optional slave is in unexpected state